CA2580520A1 - Automatic drilling system - Google Patents
Automatic drilling system Download PDFInfo
- Publication number
- CA2580520A1 CA2580520A1 CA002580520A CA2580520A CA2580520A1 CA 2580520 A1 CA2580520 A1 CA 2580520A1 CA 002580520 A CA002580520 A CA 002580520A CA 2580520 A CA2580520 A CA 2580520A CA 2580520 A1 CA2580520 A1 CA 2580520A1
- Authority
- CA
- Canada
- Prior art keywords
- rotation
- speed
- servo motor
- automatic drilling
- drum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005553 drilling Methods 0.000 title claims abstract 27
- 238000005259 measurement Methods 0.000 claims abstract 4
- 239000012530 fluid Substances 0.000 claims 3
- 238000000034 method Methods 0.000 claims 1
- 230000035515 penetration Effects 0.000 claims 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
- E21B44/02—Automatic control of the tool feed
- E21B44/04—Automatic control of the tool feed in response to the torque of the drive ; Measuring drilling torque
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- Environmental & Geological Engineering (AREA)
- Fluid Mechanics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Earth Drilling (AREA)
Abstract
An automatic drilling system is disclosed which includes an electric servo motor (150) operatively coupled to a winch brake control (154), a servo controller (168) operatively coupled to the servo motor (150), and a drum position encoder (166) rotationally coupled to a winch drum (162). The controller (168) is adapted to operate the servo motor in response to measurements of position made by the encoder (166) so that a selected rate of rotation of the drum (162) is maintained.
Claims (31)
1. An automatic drilling system, comprising:
an electric servo motor operatively coupled to a winch brake control;
a servo controller operatively coupled to the servo motor;
a drum position encoder rotationally coupled to a winch drum and operatively coupled to the servo controller, the servo controller adapted to operate the servo motor in response to measurements of position made by the encoder so that a selected rate of rotation of the winch drum is maintained.
an electric servo motor operatively coupled to a winch brake control;
a servo controller operatively coupled to the servo motor;
a drum position encoder rotationally coupled to a winch drum and operatively coupled to the servo controller, the servo controller adapted to operate the servo motor in response to measurements of position made by the encoder so that a selected rate of rotation of the winch drum is maintained.
2. The system of claim 1 wherein the encoder comprises a sine/cosine output transducer.
3. The system of claim 1 wherein a winch brake operated by the winch brake control comprises a band brake.
4. The system of claim 1 wherein the selected rate of rotation is related to a selected rate of axial motion of a drill string.
5. The system of claim 1 further comprising a drilling fluid pressure sensor operatively coupled to the servo controller, the servo controller adapted to control the rate of rotation so as to substantially maintain a predetermined drilling fluid pressure.
6. The system of claim 1 further comprising a bit weight sensor operatively coupled to the servo controller, the controller adapted to control the rate of rotation so as to substantially maintain a predetermined axial force on a drill bit.
7. The system of claim 1 further comprising a logic switch selectable to conduct one or more of a plurality of control signals to the servo controller, the control signals setting the selected rate of rotation.
8. The system of claim 7 wherein the control signal comprises at least one of drilling fluid pressure, axial force on a drill bit, rate of penetration of a drill bit, wellbore inclination and wellbore azimuth.
9. The system of claim 1 further comprising a rate optimizer operatively coupled at an input thereof to at least one drilling operating parameter sensor, an output of the optimizer operatively coupled to the servo controller, the optimizer adapted to calculate a rate of axial motion of the drill string in response to measurements of the at least one drilling operating parameter.
10. The system of claim 9 wherein the at least one drilling operating parameter sensor comprises a weight on bit sensor.
11. The system of claim 9 wherein the at least one drilling operating parameter sensor comprises a drill string torque sensor.
12. The system of claim 9 wherein the at least one drilling operating parameter sensor comprises a drill string rotation rate sensor.
13. The system of claim 9 wherein the at least one drilling operating parameter sensor comprises a sensor measuring a parameter related to axial position of the drill string.
14. The system of claim 13 wherein the axial position sensor comprises the drum position encoder.
15. The system of claim 9 wherein the at least one drilling operating parameter sensor comprises a sensor measuring a parameter related to a wellbore trajectory.
16. The system of claim 1 wherein a resolution of the encoder is about four million output increments per revolution of the drum.
17. A method for controlling a rate of release of a drill string, comprising:
measuring a parameter related to rotational position of a drawworks drum;
measuring a parameter related to operating position of a drawworks brake;
determining a rate of rotation of the drum from the rotational position related parameter measurement; and adjusting the operating position of the brake so as to substantially maintain the rate of rotation at a selected value.
measuring a parameter related to rotational position of a drawworks drum;
measuring a parameter related to operating position of a drawworks brake;
determining a rate of rotation of the drum from the rotational position related parameter measurement; and adjusting the operating position of the brake so as to substantially maintain the rate of rotation at a selected value.
18. An automatic drilling system, which comprises:
input means for setting a drawworks winch drum speed of rotation set point;
means for controlling the speed of rotation of the drum to match the drum speed of rotation set point.
input means for setting a drawworks winch drum speed of rotation set point;
means for controlling the speed of rotation of the drum to match the drum speed of rotation set point.
19. The automatic drilling system as claimed in claim 18, wherein said means for controlling the speed of rotation includes a brake handle.
20. The automatic drilling system as claimed in claim 19, wherein said means for controlling the speed of rotation includes a band brake operated by said brake handle.
21. The automatic drilling system as claimed in claim 19, wherein said means for controlling the speed of rotation includes a servo motor coupled to said brake handle.
22. The automatic drilling system as claimed in claim 21, wherein said means for controlling the speed of rotation includes a controller coupled to said servo motor and to said input means.
23. The automatic drilling system as claimed in claim 22, wherein said controller includes means for determining the speed of rotation of said drawworks winch drum.
24. The automatic drilling system as claimed in claim 23, wherein said controller includes means for comparing the speed of rotation of said drawworks winch drum to said set point.
25. The automatic drilling system as claimed in claim 24, wherein said controller includes a control loop coupled to said means for comparing the speed of rotation of said drawworks winch drum to said set point.
26. The automatic drilling system as claimed in claim 25, wherein said control loop includes a PID loop.
27. An automatic drilling system, which comprises:
a servo motor coupled to a drawworks winch drum brake actuator;
means for determining drawworks winch drum speed of rotation; and, means for controlling said servo motor based upon a difference between said drawworks winch drum speed of rotation and a speed of rotation set point.
a servo motor coupled to a drawworks winch drum brake actuator;
means for determining drawworks winch drum speed of rotation; and, means for controlling said servo motor based upon a difference between said drawworks winch drum speed of rotation and a speed of rotation set point.
28. The automatic drilling system as claimed in claim 27, wherein said means for determining includes:
a rotary encoder coupled to said drawworks winch drum; and, means coupled to said rotary encoder for calculating said drawworks winch drum speed of rotation.
a rotary encoder coupled to said drawworks winch drum; and, means coupled to said rotary encoder for calculating said drawworks winch drum speed of rotation.
29. The automatic drilling system as claimed in claim 27, wherein said means for controlling said servo motor includes:
a comparator for comparing said drawworks winch drum speed of rotation with said speed of rotation set point.
a comparator for comparing said drawworks winch drum speed of rotation with said speed of rotation set point.
30. The automatic drilling system as claimed in claim 27, wherein said means for controlling said servo motor includes:
means for setting an angular position set point for said servo motor based upon said difference between said drawworks winch drum speed of rotation and said speed of rotation set point.
means for setting an angular position set point for said servo motor based upon said difference between said drawworks winch drum speed of rotation and said speed of rotation set point.
31. The automatic drilling system as claimed in claim 30, including:
means for determining the angular position of said servo motor; and, means for comparing said angular position of said servo motor with said angular position set point.
means for determining the angular position of said servo motor; and, means for comparing said angular position of said servo motor with said angular position set point.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/US2004/012502 WO2005113930A1 (en) | 2004-04-22 | 2004-04-22 | Automatic drilling system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2580520A1 true CA2580520A1 (en) | 2005-12-01 |
| CA2580520C CA2580520C (en) | 2012-08-21 |
Family
ID=35428442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2580520A Expired - Lifetime CA2580520C (en) | 2004-04-22 | 2004-04-22 | Automatic drilling system |
Country Status (2)
| Country | Link |
|---|---|
| CA (1) | CA2580520C (en) |
| WO (1) | WO2005113930A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2600995C2 (en) | 2011-11-04 | 2016-10-27 | Шлюмбергер Текнолоджи Б.В. | Method and system for automatic milling operation |
| CN103529731B (en) * | 2013-10-06 | 2016-03-02 | 大连理工大学 | A kind of coding method for petroleum drilling winch equipment and scrambler thereof |
| CN104500024B (en) * | 2014-12-11 | 2017-03-15 | 宝鸡石油机械有限责任公司 | A kind of device and method for only realizing direct current rig tourist bus soft stop |
| WO2016149525A1 (en) * | 2015-03-18 | 2016-09-22 | Axon Drilling Products, Inc. | Drawworks band brake control for automatic drilling system |
| WO2017083454A1 (en) * | 2015-11-11 | 2017-05-18 | Schlumberger Technology Corporation | Using models and relationships to obtain more efficient drilling using automatic drilling apparatus |
| US11753880B2 (en) | 2017-03-03 | 2023-09-12 | Halliburton Energy Services, Inc. | Winch overload protection system |
| CN107313765B (en) * | 2017-08-10 | 2023-06-13 | 恒天九五重工有限公司 | Rotary encoder installing support that can flexibly deflect |
| CN112593917B (en) * | 2020-12-07 | 2024-03-29 | 北京三一智造科技有限公司 | Rotary drilling rig control method and device, rotary drilling rig and readable storage medium |
| CN112593916A (en) * | 2020-12-07 | 2021-04-02 | 北京三一智造科技有限公司 | Drilling regulation and control method and device and rotary drilling equipment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2094313C (en) * | 1993-04-19 | 1999-08-24 | Bobbie Joe Bowden | Automatic drilling system |
| US6029951A (en) * | 1998-07-24 | 2000-02-29 | Varco International, Inc. | Control system for drawworks operations |
-
2004
- 2004-04-22 CA CA2580520A patent/CA2580520C/en not_active Expired - Lifetime
- 2004-04-22 WO PCT/US2004/012502 patent/WO2005113930A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2005113930A1 (en) | 2005-12-01 |
| CA2580520C (en) | 2012-08-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2613815A1 (en) | Apparatus for eliminating net drill bit torque and controlling drill bit walk | |
| US7404454B2 (en) | Bit face orientation control in drilling operations | |
| CN101466911B (en) | Method and apparatus for oscillating a drill string | |
| US10900342B2 (en) | Using models and relationships to obtain more efficient drilling using automatic drilling apparatus | |
| US7096979B2 (en) | Continuous on-bottom directional drilling method and system | |
| US6918454B2 (en) | Automated control system for back-reaming | |
| CA2908077C (en) | Waveform anti-stick slip system and method | |
| US20110031023A1 (en) | Borehole drilling apparatus, systems, and methods | |
| CA2580520A1 (en) | Automatic drilling system | |
| US20080066958A1 (en) | Method of directional drilling with steerable drilling motor | |
| EP2935774B1 (en) | Automated directional drilling system and method using steerable motors | |
| CA2582365A1 (en) | Method and control system for directional drilling | |
| EP2182165A3 (en) | Drilling apparatus and method | |
| US10851640B2 (en) | Nonstop transition from rotary drilling to slide drilling | |
| CN102536192A (en) | Dynamic control system and control method for downhole directional power drilling tool face | |
| CN202544834U (en) | Dynamic control system of tool surface of underground directional power drilling tool | |
| CN107013163A (en) | A kind of directional drilling, the electric rotary disc device and its control method of anti-backing pressure | |
| WO2019133003A1 (en) | System and method to control a dual motor rotary steerable tool | |
| US10704661B2 (en) | Actuator device having cam and follower and controller configured to employ rate-based methodology to identify positioning of follower on cam at predetermined location | |
| WO2016149525A1 (en) | Drawworks band brake control for automatic drilling system | |
| CA2953161C (en) | Method and system for drilling a borehole | |
| CN113530439A (en) | Control system and method for automatically adjusting orientation of tool face |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request | ||
| MKEX | Expiry |
Effective date: 20240422 |